A certain gallantry brings about the impression that employees in the restaurant industry aren’t all that concerned with that little bit of small change that comes about, however waiters and other members of staff do expect a tip, and you can rest assured that your contribution will be very much appreciated.
On the other hand, if you experience bad service, do not feel obliged to leave a tip. Restaurant vouchers always include service. The bill might not indicate that service is included, but it is. An additional 5% to 10% (of the bill) tip is the icing on the cake. In a luxury establishment, leave no more than a 10% tip even though service is already included.
Taxi drivers do not expect tips and 5% of the total fee is considered generous. Long walks or additional help with luggage may deserve one.